WO2016184358A1 - Aéronef à décollage et atterrissage verticaux de type structure fixe sur la base de systèmes de commande de vol double, et son procédé de commande - Google Patents

Aéronef à décollage et atterrissage verticaux de type structure fixe sur la base de systèmes de commande de vol double, et son procédé de commande Download PDF

Info

Publication number
WO2016184358A1
WO2016184358A1 PCT/CN2016/081978 CN2016081978W WO2016184358A1 WO 2016184358 A1 WO2016184358 A1 WO 2016184358A1 CN 2016081978 W CN2016081978 W CN 2016081978W WO 2016184358 A1 WO2016184358 A1 WO 2016184358A1
Authority
WO
WIPO (PCT)
Prior art keywords
control system
aircraft
wing
flight control
fixed
Prior art date
Application number
PCT/CN2016/081978
Other languages
English (en)
Chinese (zh)
Inventor
陈乐春
Original Assignee
江苏数字鹰科技发展有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏数字鹰科技发展有限公司 filed Critical 江苏数字鹰科技发展有限公司
Priority to US15/322,123 priority Critical patent/US10279904B2/en
Publication of WO2016184358A1 publication Critical patent/WO2016184358A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
    • B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C2009/005—Ailerons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C5/00—Stabilising surfaces
    • B64C5/02—Tailplanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B64U50/14—Propulsion using external fans or propellers ducted or shrouded

Definitions

  • the present invention relates to the field of aerospace vehicle design, and in particular to a fixed structure vertical takeoff and landing aircraft of a dual flight control system, and a corresponding flight control method.
  • Fixed-wing aircraft have the advantages of high flight efficiency, fast speed, long distance, simple system structure, light weight, low cost and low usage cost.
  • fixed-wing aircraft also have their own inevitable defects, that is, they need to take off and land. Run or use a special launch recovery unit.
  • small fixed-wing UAVs due to the high-rise buildings in the city, the limitations of conventional small-size fixed-wing UAVs that can only take off and land for taxiing are very large.
  • Multi-rotor aircraft have a vertical take-off and landing capability, can take off and land using the open space in the city, and can easily shuttle between buildings, so the adaptability to urban airspace is better.
  • the rotors directly connected to the power system of the multi-rotor aircraft are far less efficient than the wings of the fixed-wing aircraft, so the power consumption is large.
  • the resistance of the forward flight is also much larger than that of the fixed-wing aircraft. Its flight speed, distance and cruising time are not as good as fixed-wing aircraft.
  • technicians in the aerospace industry have been looking for aircraft that combine the performance and advantages of both fixed-wing and multi-rotor aircraft.
  • the currently widely used vertical takeoff and landing + fixed wing solutions are mainly tilting engine type.
  • the scheme combines the lift engine and the cruise engine into one.
  • the engine is switched in the flight state to tilt the engine, so that the thrust direction of the engine rotates around the horizontal axis of the fuselage, and the fuselage is basically maintained in flight.
  • the tilting engine imposes a great limitation on the position of the engine on the aircraft. Not only the position of the wing and the engine must be consistent with the center of gravity of the aircraft.
  • the partial lift engine fails or the instantaneous output is insufficient, the asymmetric lift is likely to cause disaster. Sexual accident.
  • the engine itself is very heavy, and it is easier to tilt the engine. Therefore, the existing solution has the disadvantages of complicated thrust conversion mechanism or power device and large accessory quality, which is disadvantageous to the lightness and miniaturization of the aircraft and the improvement of flight efficiency.
  • the present invention provides a feature that can reduce the complexity of an aircraft, take into account the multi-rotor vertical take-off and landing, and the high-speed cruising of the fixed wing, and can be freely converted between the two flight modes, and has a simple structure.
  • a fixed-structure vertical take-off and landing aircraft based on dual flight control system with flexible control and reliable performance and its control method.
  • a fixed-structure vertical take-off and landing aircraft based on a dual flight control system including an aircraft structure and a flight control system;
  • an aircraft structure which is a conventional structure, a flying wing structure or a V-tail structure, including a fuselage, a fixed wing disposed on the fuselage, and a steering gear system mounted on the fixed wing; the fuselage side or fixed wing a plurality of engines are connected to the end; the engine is an internal combustion engine, an electric motor, a jet engine or a rocket engine;
  • a flight control system installed in an aircraft structure, comprising a multi-rotor flight control system and a fixed-wing flight control system, wherein a plurality of output channels of the multi-rotor flight control system are respectively connected to the respective engines, and the fixed-wing flight control system
  • the output channel includes a plurality of servo control channels and a throttle control channel, wherein the servo control channels are respectively connected to the respective servos, and the throttle control channels are connected to the engines;
  • the multi-rotor flight control system and the fixed wing flight control system Each is connected to a manual control module, a power supply and a GPS module, the fixed-wing flight control system is connected to an airspeed meter; the GPS module is connected to a computer; and the computer and the manual control module are connected and controlled by the switch.
  • the output channels of the rotor flight control system and the fixed-wing flight control system are turned on and off.
  • a further technical solution is: the multi-rotor flight control system and the fixed-wing flight control system are relatively independent, or integrated in the same flight control system.
  • a further technical solution is as follows:
  • the models of the engines are the same, the number is three or more, and the common center of gravity of all the engines in the vertical direction coincides with the center of gravity of the aircraft fuselage and the fixed wing structure.
  • a further technical solution is that: the tail portions of the respective engines are respectively mounted with support rods.
  • the aircraft is a conventional structure, including a fuselage, the middle wing of the fuselage is arranged with an organic wing, the tail of the fuselage is arranged with a horizontal tail and a vertical tail; the rear edge of the wing is mounted with a movable Aileron, a movable elevator is mounted on a rear edge of the horizontal tail, a movable rudder is mounted on a rear edge of the vertical tail; a plurality of engines are connected to the circumference of the fuselage through a plurality of connecting rods, End of the engine The support rods are respectively installed in the parts.
  • the aircraft is a flying wing structure, including a fuselage, a pair of horizontal wings are arranged on the left and right sides of the fuselage, a pair of vertical wings are arranged on the upper and lower sides of the fuselage, and the wingspan of the horizontal wing is The length is greater than the span length of the vertical wing; the rear edge of the horizontal wing is mounted with a movable elevon with a combination of an elevator and an aileron, and a movable rudder is mounted on a rear edge of the vertical wing.
  • the wing tips of the horizontal wing and the vertical wing are respectively mounted with an engine, and a support rod is respectively installed at a tail portion of each engine.
  • the present invention also provides a control method for a fixed structure vertical take-off and landing aircraft based on a dual flight control system: [0016]
  • the aircraft has a manual flight mode and an automatic flight mode, in the automatic flight mode:
  • the aircraft head In the take-off phase, the aircraft head is facing upwards, in a vertical take-off and landing attitude, the computer controls or manually controls the output channel of the multi-rotor flight control system, and simultaneously closes the output channel of the fixed-wing flight control system.
  • the multi-rotor flight control system controls the operation of each engine, overcomes the gravity by the lift generated by the engine rotation, gradually increases the flight height of the aircraft, and controls the output power of each engine to achieve the adjustment of the flight attitude and the climbing speed during the take-off of the aircraft. Adjustment
  • the computer controls, or manually controls the on/off switch to close the output channel of the multi-rotor flight control system
  • the output channel of the fixed-wing flight control system is controlled by the fixed-wing flight control system to control the steering system installed on the fixed wing, so that the aircraft changes from a vertical take-off attitude to a level flight attitude, and the steering gear system is realized.
  • the leveling attitude the same speed is adjusted by controlling the output power of each engine;
  • the computer controls, or manually controls the output channel of the multi-rotor flight control system, ⁇ Turn off the output channel of the fixed-wing flight control system, and control the engine operation by the multi-rotor flight control system.
  • the output power of each engine By controlling the output power of each engine, the aircraft is changed from the leveling attitude to the vertical take-off and landing attitude, and the lift generated by the engine rotation is overcome. Gravity, gradually reduce the flying height of the aircraft until the aircraft falls safely; during this period, by adjusting the output power of each engine, the adjustment of the flight attitude and the adjustment of the descending speed during the landing of the aircraft are realized.
  • the present invention combines the advantages of a fixed-wing aircraft and a multi-rotor aircraft, and is capable of freely switching between two flight modes, that is, capable of vertical take-off and landing in a multi-rotor manner, and capable of high-speed cruising in a fixed wing manner.
  • the present invention adopts a dual flight control system, and both flight control systems are mature technologies, which is advantageous for reducing a new flight control system that realizes the control of a multi-rotor aircraft by implementing a fixed-wing aircraft. Burst costs and development risks.
  • the dual flight control system is more convenient in control principle, does not require complicated mechanical variable shaft structure, and does not affect the internal load and equipment arrangement.
  • the present invention is applicable not only to drones but also to manned aircraft, and can be widely applied to fields such as civil aviation and military.
  • FIG. 1 is a perspective view of a first embodiment of an aircraft structure of the present invention.
  • FIG. 2 is a front elevational view of the first embodiment of the aircraft structure of the present invention.
  • FIG 3 is a plan view of a first embodiment of an aircraft structure of the present invention.
  • FIG. 4 is a left side view of the first embodiment of the aircraft structure of the present invention.
  • FIG. 5 is a perspective view of a second embodiment of the aircraft structure of the present invention.
  • FIG. 6 is a front view of a second embodiment of the aircraft structure of the present invention.
  • FIG. 7 is a plan view of a second embodiment of the aircraft structure of the present invention.
  • FIG. 8 is a schematic diagram of a flight control system of the present invention.
  • the aircraft structure includes a fuselage 1-1, a pair of wings 2-2 are arranged in the middle of the fuselage 1-1, and a pair of horizontal tails 1 are arranged at the tail of the fuselage 1-1. -3 and a vertical tail 1-4.
  • the trailing edges of the wings 2-2 are respectively provided with movable ailerons 1-5.
  • the movable elevators 1-6 are mounted on the trailing edges of the horizontal tails 1-3, respectively.
  • the trailing edge of the vertical tails 1-4 is fitted with a movable rudder 1-7.
  • the fuselage 1-1 is connected to four identical engines 1-9 through four connecting rods 1-8, the propellers 1-10 are mounted on the engine 1-9, and the engine 1-9 and the propellers 1-10 form a rotor.
  • the tails of the engines 1-9 are fitted with support rods 1-11, and the functions of the support rods 1-11 are to keep the aircraft stable in the floor.
  • FIGS. 5, 6, and 7 show an embodiment of the present invention on a flying wing structure aircraft.
  • the aircraft structure includes a fuselage 2-1, a pair of horizontal wings 2-2 are arranged on the left and right sides of the fuselage 2-1, and a pair of verticals are arranged on the upper and lower sides of the fuselage 2-1. Wings 2-3, and the span length of the horizontal wing 2-2 is greater than the span length of the vertical wing 2-3.
  • the trailing edges of the horizontal wings 2-2 are respectively mounted with movable lifting ailerons 2-4 having the functions of an elevator and an aileron.
  • the trailing edges of the vertical wings 2-3 are respectively mounted with movable rudders 2-5.
  • the wing tips of the horizontal wing 2-2 and the vertical wing 2-3 are respectively equipped with the same type of engine 2-6, the engine 2-6 is equipped with a propeller 2-7, and the engine 2-6 and the propeller 2-7 form a rotor.
  • the tails of the engine 2-6 are mounted with support rods 2-8, and the role of the support rods 2-8 is to keep the aircraft stable at the floor.
  • FIG. 8 is a schematic diagram of a flight control system of the present invention.
  • the flight control system is installed in the above-mentioned aircraft structure, and is a dual flight control system including a multi-rotor flight control system 1 and a fixed-wing flight control system 2.
  • the multi-rotor flight control system 1 and the fixed-wing flight control system 2 can be relatively independent or integrated in the same flight control system.
  • There are a plurality of output channels of the multi-rotor flight control system 1, and the four engines 3 in the first embodiment or the second embodiment are respectively connected and controlled.
  • the output channel of the fixed-wing flight control system 2 includes a servo control channel and a throttle control channel.
  • the throttle control passage is a single passage, and the four engines 3 in the first embodiment or the second embodiment are connected and uniformly controlled.
  • the power source 5 is connected to the multi-rotor flight control system 1 and the fixed-wing flight control system 2 to supply power thereto.
  • the GPS module 6 is connected to the multi-rotor flight control system 1 and the fixed-wing flight control system 2 to provide flight position and altitude data as a basis for control.
  • the airspeed meter 7 is connected to the fixed-wing flight control system 2 to provide air speed data as a basis for control in the leveling attitude.
  • the on/off switch 9 connects and controls the opening and closing of the output channels of the multi-rotor flight control system 1 and the fixed-wing flight control system 2.
  • the manual control module 10 is connected to the on/off switch 9, the multi-rotor flight control system 1 and the fixed wing flight control system 2 to provide control commands.
  • the control commands for the on/off switch 9 are provided by the computer 8 or the manual control module 10.
  • the control of the computer 8 is provided by the GPS module 6.
  • the flight of the aircraft mainly includes three kinds of actions: one, tilting left and right, (manipulating by the ailerons); second, raising and lowering (operating by the elevator); third, deflecting left and right (manipulating by the rudder).
  • the aileron is the main operating rudder surface of the aircraft. Manipulating the rolling moment generated by the differential deflection of the left and right ailerons allows the aircraft to make a roll maneuver with a long wingspan and a short chord.
  • the elevator is a steerable airfoil section in the horizontal wing that acts to pitch the aircraft. When it is necessary to maneuver the aircraft to raise or bow, the elevator in the horizontal wing will act.
  • the elevator and the ailerons are combined into one to become the elevon aileron. If the two elevons are deflected in the same direction, the airplane will rise or fall; if it is deflected in the opposite direction, it will roll to the left and right.
  • the area of the elevon aileron must be designed to be large, as the steering arm used as the elevator for the elevon aileron is smaller than the aircraft of the normal layout.
  • the rudder is used to correct the heading and angle steering of the aircraft, and is mounted on the vertical wing for the movable airfoil portion of the aircraft's heading maneuver. The rudder is mostly used for steering with a small angle.
  • the large-angle steering requires the aileron to deflect the aircraft to generate centrifugal force.
  • the aileron is used to adjust the fuselage to lift down and complete the large-angle steering.
  • the head of the aircraft is facing upwards, the support rod of the tail touches the ground, and the vehicle is in a vertical take-off and landing attitude, and the computer 8 controls the output passage of the air-rotating system 1 of the multi-rotor flight control system, and the fixed wing is closed at the same time.
  • the output channel of the flight control system 2 (Note: The above process can also be controlled by the manual control module 10).
  • the multi-rotor flight control system 1 controls the operation of each engine 3, and the lift generated by the rotation of the propeller by the engine 3 overcomes the gravity. Gradually increase the flight height of the aircraft.
  • the multi-rotor flight control system 1 realizes the adjustment of the flight attitude during the take-off of the aircraft by controlling the output power of each engine 3 to form a lift difference or a torque difference. By controlling the output power of the engine 3, the adjustment of the aircraft climb speed is realized.
  • the computer 8 controls the on/off switch 9 to close the output channel of the multi-rotor flight control system 1 , the output channel of the fixed-wing flight control system 2 (Note: The above process can also be controlled by the manual control module 10).
  • the fixed-wing flight control system 2 controls the steering system 4 including the ailerons, the elevators, and the rudder to adjust the flight attitude to change the aircraft from a vertical take-off attitude to a level flight attitude.
  • the fixed-wing flight control system 2 controls the steering gear system through the data provided by the airspeedometer 7 to achieve the adjustment of the leveling attitude; the output power of each engine 3 is uniformly controlled by the throttle to achieve the flight speed. Adjustment.
  • the computer 8 controls the output channel of the multi-rotor flight control system 1 to be turned on and off.
  • the output channel of the fixed-wing flight control system 2 is turned off (Note: The above process can also be controlled by the manual control module 10).
  • the multi-rotor flight control system 1 controls the operation of each engine 3, and by controlling the output power of each engine 3 to form a lift difference or a torque difference, the aircraft is changed from a leveling attitude to a vertical take-off attitude.
  • the multi-rotor flight control system 1 forms a lift difference or a torque difference by controlling the output power of each engine 3 to ensure the balance of the flight attitude during the landing of the aircraft; by controlling the output power of the engine 3, the adjustment of the descending speed of the aircraft is realized.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un aéronef à décollage et atterrissage verticaux de type à structure fixe sur la base de systèmes de commande de vol double, comprenant une structure d'aéronef et des systèmes de commande de vol ; la structure d'aéronef comprend un corps d'aéronef (1-1, 2-1), des ailes fixes, un système de moteur de direction (4) et une pluralité de moteurs (1-9, 2-6) agencés sur le côté périphérique du corps d'aéronef (1-1, 2-1) ou les parties d'extrémité des ailes fixes ; les systèmes de commande de vol comprennent un système de commande de vol à rotors multiples (1) et un système de commande de vol à aile fixe (2), et le système de commande de vol à rotors multiples (1) et le système de commande de vol à aile fixe (2) sont relativement indépendants ou sont intégrés dans le même système de commande de vol. Un système de commande de vol à rotors multiples (1) et un système de commande de vol à aile fixe (2) sont commandés par un ordinateur pour mettre sur marche et arrêt des passages de sortie d'un système de moteur de direction (4) et des moteurs (1-9, 2-6), une commutation libre entre deux types de modes de vol est réalisée, et l'aéronef à décollage et atterrissage verticaux peut non seulement décoller et atterrir verticalement dans un mode à rotors multiples, mais peut également être en croisière à haute vitesse dans un mode d'aile fixe. L'aéronef a une structure simple, est hautement fiable, a une commande flexible et un faible coût, non seulement est approprié pour un aéronef sans pilote, mais est également approprié pour un aéronef avec pilote, et peut être largement appliqué aux domaines de l'aviation civile, militaire et analogue.
PCT/CN2016/081978 2015-05-19 2016-05-13 Aéronef à décollage et atterrissage verticaux de type structure fixe sur la base de systèmes de commande de vol double, et son procédé de commande WO2016184358A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US15/322,123 US10279904B2 (en) 2015-05-19 2016-05-13 Fixed structure type vertical take-off and landing aircraft based on dual flying control systems and control method therefor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510257836.4A CN104816824B (zh) 2015-05-19 2015-05-19 基于双飞控系统的固定结构式垂直起降飞机及其控制方法
CN201510257836.4 2015-05-19

Publications (1)

Publication Number Publication Date
WO2016184358A1 true WO2016184358A1 (fr) 2016-11-24

Family

ID=53727356

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/081978 WO2016184358A1 (fr) 2015-05-19 2016-05-13 Aéronef à décollage et atterrissage verticaux de type structure fixe sur la base de systèmes de commande de vol double, et son procédé de commande

Country Status (3)

Country Link
US (1) US10279904B2 (fr)
CN (1) CN104816824B (fr)
WO (1) WO2016184358A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110498042A (zh) * 2019-08-29 2019-11-26 西南石油大学 固定翼航测无人机
CN112678167A (zh) * 2020-12-28 2021-04-20 中国航空工业集团公司沈阳飞机设计研究所 一种尾坐飞机垂直起降控制方法

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104816824B (zh) * 2015-05-19 2016-11-02 江苏数字鹰科技发展有限公司 基于双飞控系统的固定结构式垂直起降飞机及其控制方法
CN108628335B (zh) * 2016-03-02 2021-07-02 成都飞机工业（集团）有限责任公司 一种飞翼无人机的航向控制方法
DE102016218769A1 (de) * 2016-09-28 2018-03-29 Airbus Defence and Space GmbH Starrflügelflugzeug und verfahren zum betreiben eines starrflügelflugzeugs
US10752351B2 (en) * 2016-11-17 2020-08-25 Detroit Aircraft Corporation Tilt-rotor unmanned air vehicle
CN106807095A (zh) * 2017-03-23 2017-06-09 高桂霞 一种小云飞行模式信号切换装置
CN107097949A (zh) * 2017-04-25 2017-08-29 河南三和航空工业有限公司 一种垂直起降固定翼无人机
CN107688335B (zh) * 2017-07-28 2019-07-12 北京宇航系统工程研究所 一种巡航模式与发射模式可切换的测发控系统
CN108190012B (zh) * 2018-01-26 2021-02-26 深圳一电航空技术有限公司 飞行器及其控制方法
CN108958271B (zh) * 2018-06-12 2020-12-15 北京航空航天大学 一种复合翼无人机进近过程的协调控制方法
CN108803643B (zh) * 2018-06-19 2021-08-20 成都纵横自动化技术股份有限公司 飞行控制方法、装置、飞行控制器及复合翼飞行器
CN109407686A (zh) * 2018-11-23 2019-03-01 东莞市光点电子科技有限公司 一种飞控在降落阶段保护无人机的方法
US11827348B2 (en) 2019-03-21 2023-11-28 Gurkan ACIKEL VTOL tilting fuselage winged frame multirotor aircraft
CN110271663A (zh) * 2019-04-30 2019-09-24 重庆大学 两侧分离式四旋翼与飞翼布局复合型无人机及其控制方法
CN110989641B (zh) * 2019-11-05 2023-04-28 西安羚控电子科技有限公司 一种舰载垂直起降侦察较射无人机起降控制方法
CN112319790B (zh) * 2020-11-05 2024-01-23 国网福建省电力有限公司电力科学研究院 融合多旋翼与固定翼的长航时飞行器的气动布局结构及其控制方法
US20220306294A1 (en) * 2021-03-25 2022-09-29 Textron Systems Corporation Flight control arrangement using separate fixed-wing and vtol control modules
US20220350348A1 (en) * 2021-04-29 2022-11-03 General Electric Company Aircraft with a multi-fan propulsion system for controlling flight orientation transitions
CN113342052A (zh) * 2021-06-27 2021-09-03 广西翼界科技有限公司 一种超视距作业无人机故障应急降落方法
CN113682467B (zh) * 2021-09-01 2023-05-23 中国航空工业集团公司西安飞行自动控制研究所 一种尾座式垂直起降飞机人工应急辅助起降操纵控制方法
CN114200952B (zh) * 2021-10-20 2024-03-22 西安羚控电子科技有限公司 一种固定翼无人机的下降飞行试验系统及方法
CN113895190A (zh) * 2021-11-17 2022-01-07 广东汇天航空航天科技有限公司 飞行汽车的操纵系统及飞行汽车
US12103691B2 (en) 2022-04-29 2024-10-01 Beta Air Llc Magnetic locking system of an electric aircraft rotor and methods thereof
CN116160810B (zh) * 2022-10-25 2024-02-13 南京航空航天大学 可全域投放的海空两栖跨介质飞行器及其飞行控制方法
CN115709623B (zh) * 2022-11-30 2023-10-17 南京航空航天大学 太阳能动力的水陆两栖迁徙探潜无人机及工作方法
CN116986026B (zh) * 2023-09-26 2023-12-19 中国飞机强度研究所 一种石油勘测用一体化无人机系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5404305A (en) * 1993-11-17 1995-04-04 United Technologies Corporation Control of pilot control station authority for a dual piloted flight control system
US5797105A (en) * 1994-08-23 1998-08-18 National Aerospace Laboratory Of Science & Technology Air active control aircraft using three dimensional true airspeed detection system
US7159817B2 (en) * 2005-01-13 2007-01-09 Vandermey Timothy Vertical take-off and landing (VTOL) aircraft with distributed thrust and control
CN202728575U (zh) * 2011-10-17 2013-02-13 田瑜 固定翼与电动多旋翼组成的复合飞行器
CN103043212A (zh) * 2011-10-17 2013-04-17 田瑜 固定翼与电动多旋翼组成的复合飞行器
CN104816824A (zh) * 2015-05-19 2015-08-05 江苏数字鹰科技发展有限公司 基于双飞控系统的固定结构式垂直起降飞机及其控制方法
CN204701764U (zh) * 2015-05-19 2015-10-14 江苏数字鹰科技发展有限公司 基于双飞控系统的固定结构式垂直起降飞机

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050178879A1 (en) * 2004-01-15 2005-08-18 Youbin Mao VTOL tailsitter flying wing
CN101515178B (zh) * 2009-04-08 2010-07-21 南京航空航天大学 基于can总线的主从负担式余度无人飞机自动驾驶仪
CN108438208A (zh) * 2013-05-03 2018-08-24 威罗门飞行公司 垂直起落（vtol）飞行器
US9567075B2 (en) * 2014-02-10 2017-02-14 Northrop Grumman Systems Corporation Tilt wing aerial vehicle
US9977435B2 (en) * 2015-02-11 2018-05-22 Aeroviroment, Inc. Survey migration system for vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVS)

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5404305A (en) * 1993-11-17 1995-04-04 United Technologies Corporation Control of pilot control station authority for a dual piloted flight control system
US5797105A (en) * 1994-08-23 1998-08-18 National Aerospace Laboratory Of Science & Technology Air active control aircraft using three dimensional true airspeed detection system
US7159817B2 (en) * 2005-01-13 2007-01-09 Vandermey Timothy Vertical take-off and landing (VTOL) aircraft with distributed thrust and control
CN202728575U (zh) * 2011-10-17 2013-02-13 田瑜 固定翼与电动多旋翼组成的复合飞行器
CN103043212A (zh) * 2011-10-17 2013-04-17 田瑜 固定翼与电动多旋翼组成的复合飞行器
CN104816824A (zh) * 2015-05-19 2015-08-05 江苏数字鹰科技发展有限公司 基于双飞控系统的固定结构式垂直起降飞机及其控制方法
CN204701764U (zh) * 2015-05-19 2015-10-14 江苏数字鹰科技发展有限公司 基于双飞控系统的固定结构式垂直起降飞机

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110498042A (zh) * 2019-08-29 2019-11-26 西南石油大学 固定翼航测无人机
CN112678167A (zh) * 2020-12-28 2021-04-20 中国航空工业集团公司沈阳飞机设计研究所 一种尾坐飞机垂直起降控制方法
CN112678167B (zh) * 2020-12-28 2024-01-02 中国航空工业集团公司沈阳飞机设计研究所 一种尾坐飞机垂直起降控制方法

Also Published As

Publication number Publication date
US10279904B2 (en) 2019-05-07
CN104816824A (zh) 2015-08-05
US20170158325A1 (en) 2017-06-08
CN104816824B (zh) 2016-11-02

Similar Documents

Publication Publication Date Title
WO2016184358A1 (fr) Aéronef à décollage et atterrissage verticaux de type structure fixe sur la base de systèmes de commande de vol double, et son procédé de commande
CN106828915B (zh) 一种倾转螺旋桨可垂直起降的高速飞行器的控制方法
WO2022068022A1 (fr) Véhicule aérien sans pilote à décollage et atterrissage verticaux de type à essor vertical sur la queue et son procédé de commande
WO2013056493A1 (fr) Avion composite constitué d'une voilure fixe et d'hélices à commande électrique
CN108639332B (zh) 复合三旋翼无人机多模态飞行控制方法
CN107089328B (zh) 一种混合动力尾坐式垂直起降长航时无人机的控制方法
WO2013056492A1 (fr) Avion composite constitué d'une voilure fixe et d'hélices à commande électrique et doté de fonctions d'hélicoptère
CN107416200B (zh) 一种电动复合翼飞行器
CN202481309U (zh) 一种矢量动力垂直起降飞机及其矢量动力系统
WO2021023187A1 (fr) Procédé de commande de véhicule aérien sans pilote à rotor inclinable, et véhicule aérien sans pilote à rotor inclinable
CN103241376A (zh) 一种矢量动力垂直起降飞机及其矢量动力系统
CN105083550A (zh) 垂直起降固定翼飞行器
WO2023000571A1 (fr) Voiture volante
CN203332392U (zh) 可倾转定翼无人机
CN103318410A (zh) 一种无舵面垂直起降微型飞行器
CN111516869A (zh) 一种倾转旋翼-机翼垂直起降飞行器的布局与控制方法
KR101828924B1 (ko) 내연 엔진과 전기 모터를 구비한 항공기
CN112937849A (zh) 一种倾转式和固定式螺旋桨组合布局的垂直起降飞行器
CN108128448A (zh) 双尾撑式共轴倾转旋翼无人机及其控制方法
CN105818980A (zh) 新型高升力垂直起降飞行器
CN105346715A (zh) 一种垂直起降无人机
CN112896499A (zh) 一种倾转涵道与固定螺旋桨组合布局的垂直起降飞行器
CN103754360A (zh) 一种类飞碟式旋翼机
CN108045569A (zh) 一种半环翼飞行器
CN106043687A (zh) 双发后推式鸭式旋翼/固定翼复合式垂直起降飞行器

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 15322123

Country of ref document: US

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16795845

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16795845

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 01.06.2018)

122 Ep: pct application non-entry in european phase

Ref document number: 16795845

Country of ref document: EP

Kind code of ref document: A1